Panasonic MINAS A6 Series Operating Instructions Manual page 341

5. Manual Gain Tuning (Application)
Feed forward function
Usage example of analog torque feed forward
Setting bit 5 place of Pr6.10 Function expansion setup to 1 enables the analog torque
feed forward. When the analog input 3 is used by another function (e.g. analog torque
limit), the function becomes invalid.
The voltage (V) applied to the analog input 3 is converted to the torque via Pr6.00 Analog
torque feed forward conversion gain setup and added to the torque command (%): in
CCW direction if it is positive voltage or in CW direction if negative.
The voltage (V) applied to the analog input 3 is converted to the motor torque command
(%) through the process as shown in the graph below.
The slope represents when Pr6.00 = 30. The slope changes as the setup value changes.
Torque command (%) = 100 × input voltage (V) / (Pr6.00 setup value × 0.1)
Related page
• P.4-6 to P.4-85... "Details of parameter"
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Torque command [%]
333
200
−10 −6
−200
−333
6 10
Input voltage
[V]
1
2
3
4
5
6
7
5-49